feat: adding invalid lanelet for rviz visualization

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
autowarefoundation · Mar 21, 2023 · 8c0f7cc · 8c0f7cc
1 parent 1f1a096
commit 8c0f7cc
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Showing 2 changed files with 26 additions and 0 deletions.
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -15,6 +15,7 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "invalid_lanelet"
 
     default_enable_list:
       - "blind_spot"
@@ -29,3 +30,4 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "invalid_lanelet"
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1460,6 +1460,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (InvalidLanelet)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/invalid_lanelet
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1680,6 +1692,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: InvalidLanelet
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/invalid_lanelet
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                   Enabled: true